Inverse Kinematics question: endeffektor transformation:

Hey guys, got my updated IK running now. It’s using differential Kinematics to run trajectories. But it’s still based on the flange of the robot. What can I do when I want to fix a tool on the flange that’s maybe like turned 90 degrees to one side?

Seems like the differential Kinematics cant handle too much toolorientation difference ? I guess I’m missing something. Can someone light me up? I know it’s possible.. but the question is how

submitted by /u/Centauri24
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